EP3596488B1 - Verfahren, vorrichtung und computerprogrammprodukt zum ermitteln von transversalen relativgeschwindigkeitskomponenten von radarzielen - Google Patents

Verfahren, vorrichtung und computerprogrammprodukt zum ermitteln von transversalen relativgeschwindigkeitskomponenten von radarzielen Download PDF

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EP3596488B1
EP3596488B1 EP18701475.8A EP18701475A EP3596488B1 EP 3596488 B1 EP3596488 B1 EP 3596488B1 EP 18701475 A EP18701475 A EP 18701475A EP 3596488 B1 EP3596488 B1 EP 3596488B1
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Prior art keywords
radar
target
velocity component
transverse velocity
transmission
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German (de)
English (en)
French (fr)
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EP3596488A1 (de
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Thomas Brosche
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing

Definitions

  • the invention relates to a method for determining transversal relative velocity components of radar targets.
  • the invention also relates to a device for determining transversal relative speed components of radar targets.
  • radar systems are off M. Skolnik, "Radar Handbook", 3rd edition, 2008 famous. 1 shows a basic representation of a known radar device 100.
  • a modulated radar signal generated in a transmitter 1 is emitted via a transmitting antenna 10.
  • the radiated electromagnetic signal is then reflected on radar targets 200 that may be present in a detection field (e.g. motor vehicles, people, posts, crash barriers, transitions between different materials, etc.) and after a delay time ⁇ is received again via a receiving antenna 20 and in receiver 2 by means of a Evaluation device 30 further processed.
  • a detection field e.g. motor vehicles, people, posts, crash barriers, transitions between different materials, etc.
  • New types of radar systems use what is known as fast chirp or rapid chirp modulation as transmission signals, as is shown, for example, in Steffen Lutz, Daniel Ellenrieder, Thomas Walter, Robert Weigel: "On fast chirp modulations and compressed sensing for automotive radar applications", International Radar Symposium, 2014 is known.
  • T meas MxTrr
  • a total of M short FMCW ramps (frequency modulated continuous wave) with a duration T mod of e.g. 10 ⁇ s to 100 ⁇ s are sent, as in 2 shown.
  • the time interval between the individual ramps T rr is of the same order of magnitude, with this also can be slightly larger or smaller than the ramp duration.
  • the ramps can also not be arranged equidistantly in time (not shown).
  • Radar systems with nested ramps are known, for example from DE 10 2012 220 879 A1 , WO 2015 197 229 A1 or WO 2015 197 222 A1 , which are used to resolve ambiguities in speed or distance, for example.
  • the result is the received signal over the (modulation) frequency for each individual ramp.
  • the measured and generally digitized received signal associated with the respective ramp can now be transformed into the time domain via an inverse Fourier transformation.
  • a digital Fourier transformation (DFT) or Fast Fourier transformation (FFT) with suitable windowing is used for this purpose, and the range transformed in this way is referred to as the "beat frequency range”.
  • Another step envisaged is the Fourier transform into the ramp-to-ramp Doppler frequency domain. For this purpose, the Fourier transformation is carried out along corresponding values of the individual ramps (in the Doppler or velocity direction). The sequence of both transformations can also be swapped or viewed as a two-dimensional Fourier transformation.
  • a peak corresponds to a target reflex, whereby a physical target (e.g. car, person, post, etc.) can have several target reflexes.
  • a physical target e.g. car, person, post, etc.
  • the radar system has an antenna with several transmission and/or reception channels (e.g. realized by individual patches of a patch antenna), ie an antenna array, then an angle estimation of the target reflections and thus a determination of the 3D target positions in space can also be carried out.
  • the first signal processing steps before detection are carried out separately for each combination of transmission and reception channel.
  • the angle estimation is then carried out on the basis of the combined spectra of the individual channels.
  • the estimated target (reflex) parameters can be used, for example, for subsequent tracking, clustering, target classification or data fusion for a wide variety of applications, such as adaptive cruise control (ACC), blind spot detection, automatic emergency braking, etc.
  • the transverse velocities are determined by combining several target reflexes that are assigned to a single rigid body. This is possible because the distribution of the measured radial components of the relative velocities depends on the individual positions of the reflections in space. The prerequisite for this is that several spatially distributed reflex positions can also be measured for the corresponding physical target and clustered as belonging together. However, incorrect assignments can also occur during clustering.
  • the object is achieved with a method according to claim 1.
  • the object is achieved with a device according to claim 9.
  • the identically modulated transmission signals are frequency-modulated radar signals or non-linear ramp signals or periodic pulse signals or OFDM signals.
  • different radar signals can advantageously be used to carry out the method.
  • a further advantageous development of the method provides that the transversal speed component of the at least one radar target is determined in the azimuth and/or in the elevation direction. This advantageously supports a comprehensive detection characteristic of the radar device.
  • An advantageous development of the method provides that a target reflection signal is selected and reconstructed over an angle spectrum, with target reflection positions being separated from one another via the azimuth and/or elevation angle. In this way, in the event that several target reflections are arranged in the range-velocity space at the same range/velocity position, a distinction can be made between radar targets.
  • a further advantageous development of the method provides that, for the determination of the radar targets, the detection range with the transversal speeds is it is chosen that the quality function is convex in the detection area and, moreover, the detection area is not completely scanned. In this way, the complete detection area does not have to be calculated, so that one does not "get stuck" in a local maximum. Efficient execution of the method is supported in this way, for example this can be carried out using known gradient methods, such as Newton's iteration.
  • a further advantageous development of the method provides that the method is carried out application-specifically for selected radar targets.
  • the method can be used advantageously for diverse applications of a radar system in a motor vehicle, e.g. for an ACC system, automatic emergency braking function, blind spot detection, etc.
  • a further advantageous development of the method provides that the method is used for a tracking-based method.
  • the known tracking-based methods can be carried out even more precisely, which improves the prediction of radar targets.
  • Disclosed method features result analogously from corresponding disclosed device features and vice versa. This means in particular that features, technical advantages and versions relating to the method result in an analogous manner from corresponding features, technical advantages and versions relating to the device and vice versa.
  • One object of the invention is in particular to determine transversal components of a speed of radar targets or their complete speed vectors using a single measurement without prior clustering or tracking.
  • the known radar device 100 from 1 used identically modulated transmission signals being emitted by a transmission device 1, 10 in a measurement interval or measurement duration T meas into a detection area.
  • the identically modulated transmission signals can be frequency-modulated radar signals or non-linear ramp signals or periodic pulse signals or OFDM signals.
  • the transverse velocity components are determined using the measured values within the measurement period T meas and are available as additional information, for example, for subsequent tracking, clustering, target classification, etc.
  • the possibly incorrect assignment of the reflex positions from measurement to Measurement in tracking and time derivations of the reflex positions are advantageously avoided in this way.
  • the additionally obtained information on the transversal speed component can be used for improved functionality of a driver assistance system of a motor vehicle, e.g. an automatic emergency braking function.
  • a driver assistance system of a motor vehicle e.g. an automatic emergency braking function.
  • the transversal velocity component determined for the target to be tracked can also be used for blind spot detection and/or ACC.
  • the proposed method it is also possible with the proposed method to implement a warning function or a collision avoidance function for falling objects (e.g. falling rocks in the mountains, falling stones from bridges, etc.).
  • the estimated transversal speed can also be used here for tracking, whereby a suitable antenna design with a sufficiently large detection field, especially in the elevation direction, is required.
  • a basic sequence of signal processing required for the proposed method is in 3 shown.
  • 2D-DFT two-dimensional Fourier transformation
  • step 310 for each channel, i.e. for each combination of transmitting and receiving elements of the antenna (e.g. patch array ) 10, 20 a two-dimensional spectrum in the beat frequency Doppler or after compensation of the Doppler component in the beat frequency (not shown) in the distance-velocity space, as it is principally presented as a magnitude spectrum in 4 is shown.
  • 4 shows a total of eight target reflections, which are all arranged at different distances at the same radial speed in the range-velocity space.
  • step 320 detected peak values (peaks) are obtained for the target reflections in a magnitude spectrum calculated from the individual spectra of the channels, the positions of which are estimated in step 330. Based on the measured values of multiple channels (for example a MIMO antenna system) associated with the respective detected reflex positions, an angle estimation in the azimuth and/or elevation direction is then carried out in step 340 for the relevant target reflexes.
  • multiple channels for example a MIMO antenna system
  • Steps 300 to 340 thus include standard steps of a signal processing known per se.
  • the transversal velocity component is now additionally estimated or approximately calculated for one or more selected detected target reflections.
  • step 350 in the individual spectra the values that do not belong to the respective target reflection or peak are set to zero ("windowing", as in 9 explained in more detail), as a result of which a selection of the measured values representing the target reflections is carried out.
  • an accurate estimate of the complex-valued peak amplitude and position can also be performed for this purpose.
  • This reconstruction is then inverse Fourier-transformed in step 360 in the Doppler direction, so that a sequence of pre-processed complex signal values x m is obtained, which corresponds to the respective ramps that follow one another in time.
  • step 370 the transversal velocity components in the azimuth and/or elevation direction are estimated on the basis of the measured values x m obtained and preprocessed in this way.
  • the transversal velocity therefore affects the measurement signal both via a change in distance over time and via a change in angle, as is explained below in the Figures 5, 6 and 7 is shown.
  • FIG. 6 shows the antenna 10, 20 and center times t m of the ramp signals with the resulting distances r m of the radar target 200 to the antenna 10, 20.
  • FIG. 7 shows only an example in four diagrams from top to bottom of a time profile of the radial velocity component v e due to the transversal velocity component v q , a resulting change in distance ⁇ r, a resulting change in angle ⁇ and a resulting change in the acceleration a e of radar target 200.
  • the target positions at the times of the respective ramp m are now calculated as a function of v q and the resulting phase changes ⁇ m in the individual receiving channels are determined, with MIMO systems here resulting from the combination virtual reception channels resulting from actual transmission and reception channels are meant.
  • a vector a m (v q,a ;v q,e ) is obtained, whose elements represent the receive channels.
  • the totality of all M vectors results in a matrix whose columns represent the receive channels and whose rows represent the ramp times. This is calculated for the combination to be examined of the transversal velocities in the azimuth direction v q,a and elevation direction v q,e and multiplied by the pre-processed measured value vector x m .
  • the transverse velocities are then estimated by maximizing the quality function Q(v q,a ;v q,e ) via v q,a and/or v q,e according to the following mathematical model: v ⁇ q .
  • step 8 shows a basic sequence of the method, which essentially corresponds to the sequence of 3 corresponds with the difference that in 8 in step 310 it is indicated that the two-dimensional Fourier transformation is carried out for a plurality of channels (or virtual receiving channels).
  • a step 331 a selection of the measured values for an angle estimation is also shown.
  • This optional additional step makes sense in particular in order to reduce the outlay for the angle estimation 340, ie to carry out the angle estimation only for peak positions in the distance-velocity spectra that are assigned to targets relevant for the subsequent applications.
  • the in the Figures 3 and 8th The signal processing steps outlined can be implemented with the associated control program of the radar device 100 both in software running on a computer device (eg microcontroller, DSP, etc.) and in hardware (eg FPGA, ASIC, etc.).
  • a computer device eg microcontroller, DSP, etc.
  • hardware eg FPGA, ASIC, etc.
  • FIG. 9 shows a principle of a selection of a radar target 200 in a range-speed spectrum with several reflex positions of a k-th target reflex R, shown as points, for which the transversal speed component v q is currently to be calculated. Only the values in the vector X m at the estimated distance r k used. Values in the vector x m that lie outside the peak width around v k are suppressed by windowing or by setting to zero. As a result, only the target reflex R remains, for which the transversal speed is actually to be determined at the moment.
  • the windowing takes place in the one-dimensional or two-dimensional angular spectrum analogous.
  • the proposed method is carried out sequentially for each target reflex R windowed in this way.
  • An advantageous application of the method according to the invention can consist in realizing a system that warns of falling objects (e.g. objects thrown from a bridge or falling rocks in the mountains) and/or prevents a collision with said objects and/or at least the severity of one of them resulting accident minimized.
  • falling objects e.g. objects thrown from a bridge or falling rocks in the mountains

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP18701475.8A 2017-03-17 2018-01-25 Verfahren, vorrichtung und computerprogrammprodukt zum ermitteln von transversalen relativgeschwindigkeitskomponenten von radarzielen Active EP3596488B1 (de)

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Application Number Priority Date Filing Date Title
DE102017204495.0A DE102017204495A1 (de) 2017-03-17 2017-03-17 Verfahren und Vorrichtung zum Ermitteln von transversalen Relativgeschwindigkeitskomponenten von Radarzielen
PCT/EP2018/051796 WO2018166683A1 (de) 2017-03-17 2018-01-25 Verfahren und vorrichtung zum ermitteln von transversalen relativgeschwindigkeitskomponenten von radarzielen

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EP3596488A1 EP3596488A1 (de) 2020-01-22
EP3596488B1 true EP3596488B1 (de) 2022-03-09

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US (1) US11249180B2 (ko)
EP (1) EP3596488B1 (ko)
JP (1) JP6821051B2 (ko)
KR (1) KR102445130B1 (ko)
CN (1) CN110431437B (ko)
DE (1) DE102017204495A1 (ko)
WO (1) WO2018166683A1 (ko)

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DE102018200755A1 (de) * 2018-01-18 2019-07-18 Robert Bosch Gmbh Verfahren und Vorrichtung zum Plausibilisieren einer Querbewegung
US11175382B2 (en) * 2019-06-14 2021-11-16 GM Global Technology Operations LLC Elevation angle estimation in horizontal antenna array with doppler and velocity measurements
CN113030890B (zh) * 2019-12-24 2023-11-21 大富科技(安徽)股份有限公司 基于车载雷达的目标识别方法及设备
CN113033586B (zh) * 2019-12-24 2024-04-16 大富科技(安徽)股份有限公司 目标识别方法及设备
CN111458703A (zh) * 2020-01-13 2020-07-28 武汉大学 一种测量多目标横向速度的方法及系统
US11137488B1 (en) * 2020-03-10 2021-10-05 Nokia Technologies Oy Radar excitation signals for wireless communications system
CN111580060B (zh) 2020-04-21 2022-12-13 北京航空航天大学 目标姿态识别的方法、装置和电子设备
KR20210136631A (ko) * 2020-05-08 2021-11-17 주식회사 만도모빌리티솔루션즈 차량용 레이더의 수직 장착 오정렬 감지 장치, 방법 및 그를 포함하는 레이더 장치
CN112673272B (zh) * 2020-07-27 2022-03-11 华为技术有限公司 一种信号处理方法、装置以及存储介质

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DE10100413A1 (de) * 2001-01-08 2002-07-11 Bosch Gmbh Robert Verfahren und Vorrichtung zur Schätzung von Bewegungsparametern von Zielen
DE102012220879A1 (de) * 2012-11-15 2014-05-15 Robert Bosch Gmbh Rapid-Chirps-FMCW-Radar
DE102014212280A1 (de) 2014-06-26 2015-12-31 Robert Bosch Gmbh Radarmessverfahren
DE102013210256A1 (de) * 2013-06-03 2014-12-04 Robert Bosch Gmbh Interferenzunterdrückung bei einem fmcw-radar
US9594159B2 (en) * 2013-07-15 2017-03-14 Texas Instruments Incorporated 2-D object detection in radar applications
JP6364986B2 (ja) * 2014-06-13 2018-08-01 株式会社デンソー レーダ装置
DE102014212390A1 (de) 2014-06-27 2015-12-31 Robert Bosch Gmbh Verfahren zur Objektortung mit einem FMCW-Radar
CN106443671A (zh) * 2016-08-30 2017-02-22 西安电子科技大学 基于调频连续波的sar雷达动目标检测与成像方法

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KR102445130B1 (ko) 2022-09-21
WO2018166683A1 (de) 2018-09-20
US20210132212A1 (en) 2021-05-06
KR20190125452A (ko) 2019-11-06
US11249180B2 (en) 2022-02-15
CN110431437B (zh) 2023-09-22
DE102017204495A1 (de) 2018-09-20
JP2020509390A (ja) 2020-03-26
JP6821051B2 (ja) 2021-01-27
CN110431437A (zh) 2019-11-08
EP3596488A1 (de) 2020-01-22

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